final project to crickitfy

Animatronic_Hand/binary_counting.py

@@ -3,15 +3,8 @@
 import time
 from digitalio import DigitalInOut, Direction, Pull
 import audioio
-from adafruit_seesaw.seesaw import Seesaw
-from adafruit_seesaw.pwmout import PWMOut
-from adafruit_motor import servo
-from busio import I2C
 import board
-
+from adafruit_crickit import crickit
-# Create I2C and seesaw objuect
-i2c = I2C(board.SCL, board.SDA)
-ss = Seesaw(i2c)
 
 #################### CPX switch
 # use the CPX onboard switch to turn on/off (helps calibrate)
@@ -21,9 +14,9 @@ switch.pull = Pull.UP
 
 #################### Audio setup
 print("Let's count in binary.")
-wavfiles = ["one.wav", "two.wav", "three.wav", "four.wav", "five.wav", "six.wav",
+wavfiles = ("one.wav", "two.wav", "three.wav", "four.wav", "five.wav", "six.wav",
             "seven.wav", "eight.wav", "nine.wav", "ten.wav", "eleven.wav",
-            "twelve.wav", "thirteen.wav", "fourteen.wav", "fifteen.wav"]
+            "twelve.wav", "thirteen.wav", "fourteen.wav", "fifteen.wav")
 introfile = "intro.wav"
 
 cpx_audio = audioio.AudioOut(board.A0)
@@ -34,17 +27,13 @@ def play_file(wavfile):
         while cpx_audio.playing:
             pass
 
-#################### 4 Servos
+#################### 4 Servos!
-servos = []
+servos = (crickit.servo_1, crickit.servo_2, crickit.servo_3, crickit.servo_4)
-for ss_pin in (17, 16, 15, 14):
+for servo in servos:
-    pwm = PWMOut(ss, ss_pin)
+    servo.angle = 180 # starting angle, open hand
-    pwm.frequency = 50
-    _servo = servo.Servo(pwm)
-    _servo.angle = 90   # starting angle, middle
-    servos.append(_servo)
 
 # Which servos to actuate for each number
-counting = [
+counting = (
     [3],
     [2],
     [3, 2],
@@ -60,7 +49,7 @@ counting = [
     [0, 3, 1],
     [0, 2, 1],
     [0, 3, 2, 1]
-]
+)
 
 play_file(introfile)
 
@@ -69,26 +58,26 @@ while True:
         continue
 
     # the CPX switch is on, so do things
-    for i in range(4):  # close the fist
+    for servo in servos:  # close the fist
-        servos[i].angle = 0  # close the fingers
+        servo.angle = 0  # close the fingers
-        print("Servo %s angle = 0" % i )
+        print("Servo %d angle = 0" % (servos.index(servo)+1) )
         time.sleep(.2)
 
     time.sleep(1)  # pause a moment
 
     for i in range(len(counting)):
         # close all the counting fingers between numbers
-        for k in range(4):
+        for servo in servos:
-            servos[k].angle = 0  # close
+            servo.angle = 0  # close
-            print("\t\tServo #%d angle 0" % k)
+            print("\t\tServo #%d angle 0" % (servos.index(servo)+1))
             time.sleep(0.3)
 
         print("Number #%d \tfingers: %s" % (i+1, counting[i]))
 
         # open just the indicated fingers when counting
-        for j in range(len(counting[i])):
+        for finger in counting[i]:
-            servos[counting[i][j]].angle = 180  # open
+            servos[finger].angle = 180  # open
-            print("\t\tServo #%d angle 180" % counting[i][j])
+            print("\t\tServo #%d angle 180" % (finger+1))
             time.sleep(0.3)
         # say it!
         play_file(wavfiles[i])

Animatronic_Hand/touch.py

@@ -2,15 +2,9 @@
 #  CPX with CRICKIT and four servos
 #  touch four cap pads to close the fingers
 
-from digitalio import DigitalInOut, Direction, Pull
-from adafruit_seesaw.seesaw import Seesaw
-from adafruit_seesaw.pwmout import PWMOut
-from adafruit_motor import servo
-from busio import I2C
 import board
-
+from digitalio import DigitalInOut, Direction, Pull
-i2c = I2C(board.SCL, board.SDA)
+from adafruit_crickit import crickit
-ss = Seesaw(i2c)
 
 #################### CPX switch
 # use the CPX onboard switch to turn on/off (helps calibrate)
@@ -18,16 +12,13 @@ switch = DigitalInOut(board.SLIDE_SWITCH)
 switch.direction = Direction.INPUT
 switch.pull = Pull.UP
 
-#################### 4 Servos
+#################### 4 Servos!
-servos = []
+servos = (crickit.servo_1, crickit.servo_2, crickit.servo_3, crickit.servo_4)
-for ss_pin in (17, 16, 15, 14):
+for servo in servos:
-    pwm = PWMOut(ss, ss_pin)
+    servo.angle = 180 # starting angle, open hand
-    pwm.frequency = 50
-    _servo = servo.Servo(pwm)
-    _servo.angle = 90   # starting angle, middle
-    servos.append(_servo)
 
-CAPTOUCH_THRESH = 500  # threshold for touch detection
+#################### 4 Touch sensors!
+touches = (crickit.touch_1, crickit.touch_2, crickit.touch_3, crickit.touch_4)
 
 cap_state = [False, False, False, False]
 cap_justtouched = [False, False, False, False]
@@ -41,16 +32,16 @@ while True:
         continue
     # Check the cap touch sensors to see if they're being touched
     for i in range(4):
-        touch_val = ss.touch_read(i)
         cap_justtouched[i] = False
         cap_justreleased[i] = False
 
-        if touch_val > CAPTOUCH_THRESH:
+        if touches[i].value:
-            # print("CT" + str(i + 1) + " touched! value: " + str(touch_val))
+            #print("CT" + str(i + 1) + " touched!")
             if not cap_state[i]:
                 cap_justtouched[i] = True
                 print("%s finger bent." % finger_name[i])
                 servos[i].angle = 0
+            # store the fact that this pad is touched
             cap_state[i] = True
 
         else:
@@ -59,7 +50,7 @@ while True:
                 print("%s finger straightened." % finger_name[i])
                 servos[i].angle = 180
                 # print("CT" + str(i + 1) + " released!")
-
+            # store the fact that this pad is NOT touched
             cap_state[i] = False
 
         if cap_justtouched[i]: